JP2015215730A5 - - Google Patents

Claims (20)

An operation unit having an operation surface;
A movable unit having the operation portion and at least one magnet for adsorption and having a recess in part;
The concave portion of the movable unit has a convex spherical surface into which the concave portion of the movable unit and the concave portion of the movable unit are loosely fitted, and the magnetic attractive force between the at least one attracting magnet and the at least one magnetic body. And the convex spherical surface are in point or line contact, and a fixed unit that freely rotates and supports the movable unit around the spherical center of the convex spherical surface,
A first driving unit that rotates the operation unit with respect to the fixed unit around an X axis passing through the spherical center;
A second drive unit that rotates the operation unit with respect to the fixed unit around a Y axis orthogonal to the X axis in a plane including the X axis ;
And a detector for detecting the X first shaft Rino Shu rotation angle and the Y-axis Rino Shu second rotation angle of the operating portion with respect to the fixed unit, the spherical center of the convex spherical surface, An actuator provided at the origin of the X-axis and the Y-axis, and a detection circuit unit that generates first and second rotation angle signals from the first and second rotation angles ;
I / O operation device with   A control arithmetic processing unit that generates first and second target rotation angle signals based on the first and second rotation angle signals; and
  A drive circuit unit that receives the first and second target rotation angle signals and generates signals for driving the first and second drive units
The input / output operation device according to claim 1, further comprising: The control arithmetic processing unit generates a current position coordinate of the operation unit in a two-dimensional coordinate system corresponding to a movable range region of the operation unit based on the first and second rotation angle signals, The input / output operation device according to claim 2 , wherein the first and second target rotation angle signals are generated based on position feedback control using a difference between current position coordinates. In the two-dimensional coordinate system, the control calculation processing unit includes the target position coordinates, sets a target identification coordinate area, and the current position coordinates of the operation unit are within the range of the identification coordinate area sets the first gain of the position feedback control, the current position coordinates, when in the outside of the identified coordinate area, according to claim 3 for setting a larger gain than the first gain Input / output operating device. The control arithmetic processing unit is
In the two-dimensional coordinate system, the identification coordinate area becomes the target set multiple,
In accordance with the current position coordinates of the operation unit or an external signal, the target position coordinates are set in one identification coordinate area selected from the plurality of identification coordinate areas,
When the current position coordinate of the operation unit is within the range of the identification coordinate area, the first gain of the position feedback control is set, and the current position coordinate is outside the range of the identification coordinate area The input / output operation device according to claim 4 , wherein a gain larger than the first gain is set.   The actuator further includes a third drive unit that rotates the movable unit with respect to the fixed unit about a Z axis that is orthogonal to the X axis and the Y axis and that is a central axis of the operation unit,
  The input / output operation device according to claim 2, wherein the spherical center of the convex spherical surface is provided at an origin of the X axis, the Y axis, and the Z axis. The control arithmetic processing unit generates a drive signal having a predetermined drive waveform pattern,
The drive circuit unit receives the drive signal and generates a signal for driving the third drive unit ;
The third of said movable unit by a driving unit input operating device according to any one of claims 6 to vibrate the drive to the Z-axis Rino Shu direction. The input / output operation device according to claim 7 , wherein the predetermined drive waveform pattern includes a vibration waveform having a frequency component in an audible region. The detector includes a first detector for detecting the Y-axis Rino Shu rotation angle to the X axis of the operation portion with respect to the fixed unit,
Output operating device according to claim 1 comprising a second detector for detecting the Z-axis Rino Shu rotational angle of the operating portion with respect to the fixed unit. The movable unit has a convex spherical surface in place of the recess, the fixing unit is input operating device according to claim 1 having a recess instead of the convex spherical surface.   The input / output operation device according to claim 1, wherein the concave portion of the movable unit has a conical surface.   The movable unit has an opening into which a holder bar for fixing the convex spherical surface is inserted, and a rotation angle of the movable unit is limited by contact between the opening and the holder bar. The input / output operation device according to 1. Further comprising a drop-off prevention member provided on the fixed unit and having a restricting surface that restricts movement of the movable unit so that the movable unit does not fall off the fixed unit;
The input / output operation device according to claim 1, wherein the regulating surface has a concave partial spherical surface having a center coincident with the spherical center. The first drive unit includes a pair of first drive magnets arranged symmetrically with respect to the Z axis in the movable unit;
A pair of first magnetic yokes respectively disposed on the fixed unit to face the pair of first drive magnets;
A pair of first drive coils wound respectively on the pair of first magnetic yokes;
The second drive unit includes a pair of second drive magnets arranged symmetrically with respect to the Z axis in the movable unit;
A pair of second magnetic yokes respectively disposed on the fixed unit to face the pair of second drive magnets;
A pair of second drive coils wound respectively on the pair of second magnetic yokes;
First drive coil in the first drive magnet and the pair of the pair is provided on a straight line passing through the spherical center of the convex spherical surface,
The second drive coil in the second drive magnet and the pair of the pair passes the spherical center of the convex spherical surface is provided on the other straight line perpendicular to the straight line,
The center position of each first drive magnet, first drive coil, second drive magnet, and second drive coil in the Z-axis direction substantially coincides with the position of the spherical center of the convex spherical surface. The input / output operation device according to claim 6 . The third driving unit includes:
A third drive coil wound around each of the pair of first magnetic yokes and the pair of second magnetic yokes;
The input / output operation device according to claim 14 , wherein the pair of first drive magnets and the pair of second drive magnets are used as a third drive magnet. Connecting the respective second drive magnet of the first driving magnet and the pair of the pair of a pair of magnetic back yoke, the pair of the magnetic back yoke, the spherical center side of the movable unit The input / output operation device according to claim 14 provided. 16. The input / output operation device according to claim 15 , wherein the at least one magnetic body is the pair of first magnetic yokes and the pair of second magnetic yokes.   2. The input / output operation device according to claim 1, wherein the at least one attracting magnet is the pair of first drive magnets and the pair of second drive magnets. In a state where the movable unit is in a neutral position, the pair of first drive magnets and the pair of second drive magnets are directed downward with respect to a horizontal plane passing through the spherical center perpendicular to the Z axis. Are arranged so as to form a rotation angle A of 45 degrees or less, and the first drive coil and the pair of second drive magnets are opposed to the pair of first drive magnets and the pair of second drive magnets. 15. The input / output operation device according to claim 14 , wherein a pair of second magnetic yokes are arranged so as to rotate around the fixed unit between the pair of first magnetic yokes and the pair of second drive coils. . The input / output operation device according to claim 1, wherein the center of gravity of the movable unit coincides with the spherical center.